WO2006038330A1 - Detecteur sous-marin et procede susceptible de calculer des informations de quantite de poissons sur un banc de poissons - Google Patents

Detecteur sous-marin et procede susceptible de calculer des informations de quantite de poissons sur un banc de poissons Download PDF

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Publication number
WO2006038330A1
WO2006038330A1 PCT/JP2005/006538 JP2005006538W WO2006038330A1 WO 2006038330 A1 WO2006038330 A1 WO 2006038330A1 JP 2005006538 W JP2005006538 W JP 2005006538W WO 2006038330 A1 WO2006038330 A1 WO 2006038330A1
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WIPO (PCT)
Prior art keywords
axis
fish
hull
school
predetermined
Prior art date
Application number
PCT/JP2005/006538
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English (en)
Japanese (ja)
Inventor
Kohji Iida
Yasushi Nishimori
Emi Okazaki
Original Assignee
Furuno Electric Co., Ltd.
National University Corporation Hokkaido University
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Furuno Electric Co., Ltd., National University Corporation Hokkaido University filed Critical Furuno Electric Co., Ltd.
Priority to GB0704964A priority Critical patent/GB2432672B/en
Priority to US11/662,188 priority patent/US7768875B2/en
Publication of WO2006038330A1 publication Critical patent/WO2006038330A1/fr

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Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/52—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00
    • G01S7/523—Details of pulse systems
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01K—ANIMAL HUSBANDRY; AVICULTURE; APICULTURE; PISCICULTURE; FISHING; REARING OR BREEDING ANIMALS, NOT OTHERWISE PROVIDED FOR; NEW BREEDS OF ANIMALS
    • A01K79/00—Methods or means of catching fish in bulk not provided for in groups A01K69/00 - A01K77/00, e.g. fish pumps; Detection of fish; Whale fishery
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/88—Sonar systems specially adapted for specific applications
    • G01S15/96—Sonar systems specially adapted for specific applications for locating fish

Definitions

  • the present invention relates to an underwater detection device such as a scanning sonar and a bottom survey sonar device that transmits an ultrasonic signal and forms a received beam to detect a fish school, and more particularly to an underwater detection device that calculates fish quantity information of a fish school. About.
  • Patent Document 1 Japanese Patent Publication No. 4 8 1 2 6 2 9 9” and Patent Document 1).
  • Patent Document 2 Refer to “Publication of Japanese Patent Laid-Open No. 2 0 0 3 — 2 0 2 3 7 0”).
  • the fish finder is installed on the hull, and scans the bottom of the hull by transmitting an ultrasonic beam vertically below the hull, and detects the fish existing below the hull.
  • a scanning sonar is also installed on the hull, but the circumference of the hull is scanned by transmitting an ultrasonic beam toward the water around the hull, and the fish existing in the water around the hull are detected.
  • a school of fish is detected by scanning with these acoustic devices, a predetermined cross section of the detected school of fish is displayed as a scanned image.
  • a scanning sonar includes a horizontal mode that scans the entire circumference at a predetermined tilt angle and a vertical mode that scans a fan-shaped cross section in a substantially vertical direction (for example, Patent Document 2). reference).
  • a horizontal mode scan image and a vertical mode scan image are respectively displayed.
  • the fisherman grasps the shape of the whole school based on these scanned images and estimates the fish quantity information of the school.
  • the fish finder cannot transmit the ultrasonic beam toward the vertical bottom of the hull, so it cannot grasp the shape of the whole fish school.
  • the present invention has been made in view of the above problems, and provides an underwater detection apparatus and method capable of quantitatively calculating fish quantity information of a school of fish with little variation regardless of the experience of fishermen. For the purpose. Disclosure of the invention
  • An underwater detection apparatus for solving the above-described problems includes a transmission unit that transmits an ultrasonic beam in a predetermined direction in water from a hull, and a reflected echo from within a school of fish caused by the transmitted ultrasonic signal. And a signal processing unit for processing the signal of the reception beam, and the signal processing unit determines the data obtained by the reception beam for a predetermined three times. It is characterized in that the fish quantity information of the school of fish is calculated by integrating in the dimension direction.
  • the “transmission unit” and the “reception unit” include not only separate devices each having a transmission or reception function, but also an integrated device having both transmission and reception functions.
  • the method for calculating fish quantity information of a school of fish according to the present invention includes a step of transmitting an ultrasonic beam in a predetermined direction in water, and a reflected echo from the inside of a school of fish caused by the transmitted ultrasonic signal by a received beam. And calculating the fish quantity information of the fish school by integrating data obtained by the receiving beam in a predetermined three-dimensional direction.
  • the data obtained from the received beam formed from the reflected echo reflected from within the fish school is integrated in the three-dimensional direction, and the fish quantity information of the fish school is calculated based on the result. Therefore, it is possible to easily grasp the fish quantity information of the fish school with high accuracy without grasping the correspondence between the scanned image in the horizontal mode and the scanned image in the vertical mode. Further, the fish volume information of the school of fish calculated in this way does not depend on the guesser of the fish volume information, so stable data can be obtained.
  • the reception unit may be capable of forming a reception beam in a predetermined two-dimensional direction.
  • the integration of the data by the signal processing unit is performed in a three-dimensional direction of the two-dimensional direction and a predetermined one-dimensional direction intersecting the two-dimensional direction.
  • the method for calculating fish quantity information of a school of fish includes a step of transmitting an ultrasonic beam in a predetermined two-dimensional direction in water, and receiving a reflected echo from within the school of fish resulting from the transmitted ultrasonic signal.
  • the amount of fish in the school of fish by integrating the step of receiving with a beam and the data obtained by the receiving beam into the two-dimensional direction and a predetermined one-dimensional direction intersecting the two-dimensional direction. And a step of calculating information.
  • the underwater detection device has a first two-dimensional direction extending in the horizontal direction of the hull, and a direction perpendicular to the first horizontal axis from the hull to the first axis of the sd.
  • the predetermined one-dimensional direction is preferably the row direction of the hull.
  • the data obtained by the receiving beam can be easily integrated in the three-dimensional direction by running the hull while forming the receiving beam in the two-dimensional direction. Is the direction of travel of the hull, so it is only necessary to move the hull in either direction. From the viewpoint of obtaining highly accurate results, it is preferable to go straight without meandering the hull.
  • the first horizontal axis may be any one of the second axis and an axis that intersects the second axis.
  • the lower axial force S HU is the third axis. Note that it is one of the axes intersecting the third axis. That is, the combination of the first horizontal axis and the lower axis is the first.
  • the fish quantity information can be calculated by applying or applying the fish quantity information calculation principle using the cylindrical coordinate system. Quantity information can be easily calculated.
  • the predetermined two-dimensional direction is a first axis extending in a front horizontal direction of a hull and a horizontal direction from the hull to the first axis.
  • the predetermined one-dimensional direction is a traveling direction of the hull.
  • formed around the hull is not necessarily limited to the one formed around the entire hull, but includes the one formed only around the hull. “” Includes not only the surface formed around the entire hull, but also the fan-shaped surface.
  • the data obtained by the received beam can be easily separated in a three-dimensional direction by running the hull while forming the received beam in a direction substantially along the umbrella-shaped surface formed around the hull. can do.
  • the one-dimensional direction is the traveling direction of the hull, it is only necessary to move the hull in either direction.
  • the predetermined two-dimensional direction includes a second axis extending in a direction perpendicular to the horizontal direction from the hull with respect to the first axis extending in the front horizontal direction of the hull and the hull. It may be a direction substantially along the second surface including the third axis extending vertically downward.
  • the predetermined one-dimensional direction is preferably a direction in which the second surface is rotated about a third axis extending vertically downward from the hull.
  • the reception beam is formed in a direction substantially along a virtual vertical section including a virtual vertical axis extending vertically downward from the hull, and the direction in which the reception beam is formed is sequentially changed.
  • the data obtained by the beam can be integrated in the three-dimensional direction. This is effective in that the data obtained by the receiving beam can be integrated in the three-dimensional direction without running the hull.
  • the predetermined two-dimensional direction is Crossed with respect to a first surface including a first axis extending in the front horizontal direction and a second axis extending from the hull in a direction perpendicular to the first axis in the horizontal direction, and formed around the hull.
  • the direction may be substantially along the umbrella-shaped surface.
  • the predetermined one-dimensional direction is a direction that changes an angle at which the first surface and the umbrella-shaped surface intersect.
  • the receiving beam is formed in a direction substantially along the umbrella-shaped surface formed around the hull, and the angle at which the umbrella-shaped surface intersects the first surface (that is, the wave beam with respect to the first surface).
  • the predetermined two-dimensional direction includes a first axis extending in a front horizontal direction of a hull and a second axis extending in a direction perpendicular to the horizontal direction from the hull to the first axis.
  • a first horizontal axis on a first surface including: the first axis
  • a lower axis intersecting the third axis on the third surface including a second horizontal axis orthogonal to the horizontal axis on the first surface and a third axis extending vertically downward from the hull. It may be a direction substantially along the surface to be included.
  • the predetermined one-dimensional direction is preferably a direction that changes an angle at which the third axis and the lower axis intersect.
  • the reception beam is formed in a direction substantially along a plane including the first horizontal axis, the lower axis intersecting the third axis on the third plane including the second horizontal axis and the third axis.
  • the receive beam by forming the receive beam by changing the angle at which the third axis and the lower axis intersect, the data obtained by the receive beam can be integrated in a three-dimensional direction. Even in this case, it is effective in that the data obtained by the receiving beam can be integrated in the three-dimensional direction without moving the hull.
  • ⁇ ⁇ ⁇ ⁇ is an input equivalent sound intensity obtained by correcting diffusion attenuation and absorption attenuation of transmitted / received ultrasonic signals.
  • Figure 1 is a control block diagram of the scanning sonar.
  • Figure 2 is a model diagram of a vertical cylindrical coordinate system.
  • Fig. 3 is a diagram showing the positional relationship between the transducer and the school of fish 7, and Fig. 4 shows the (a) force beam ( ⁇ ⁇ ) direction when an ultrasonic beam is scanned in two dimensions.
  • the coordinate system of ⁇ , (b) is a diagram showing the imaging results of a two-dimensional scan of the target.
  • Figure 5 is a diagram of the evening of the beam in 3 ⁇ 4 ⁇ 'when the ultrasonic beam ran on the yz plane.
  • Figure 6 is a model diagram in which the progress of the hull is unsatisfactory.
  • Fig. 7 is a model diagram of the upper and lower oblique cylindrical coordinate system.
  • Fig. 8 is a diagram showing the positional relationship between the lance lance deucer and the school of fish.
  • Fig. 9 is a diagram of a reception beam in a case where an ultrasonic beam is scanned on a virtual slanted surface.
  • Figure 10 is a model diagram showing the progress of the hull.
  • Figure 11 is a conceptual diagram for explaining an arithmetic expression for calculating the amount of fish in a school of fish.
  • Figure 12 is a model diagram of the left-right oblique cylindrical coordinate system.
  • Fig. 1 3 is a plan view showing the progress of the hull shown in Fig. 1 2
  • Fig. 1 4 is a model diagram of an up, down, left, and right oblique cylindrical coordinate system
  • Fig. 15 is a plan view showing the progress of the hull shown in Fig. 14
  • Figure 16 is a model diagram of an umbrella-shaped plane horizontal movement coordinate system.
  • Figure 17 shows the positional relationship between the transducer and the school of fish.
  • Figure 18 shows the received beam when the ultrasonic beam is scanned within the range of 1 ⁇ / 2 ⁇ ⁇ ⁇ 2 [ ⁇ a d] on the virtual umbrella-shaped surface.
  • Figure 19 is a model diagram showing the relationship between the direction of travel of the hull and the transmission direction of the ultrasonic beam.
  • Figure 20 is a model diagram showing how the hull progresses
  • Figure 21 shows the model of the spherical coordinate system.
  • Figure 22 shows that the ultrasonic beam is scanned on the vertical plane H 5 while the vertical plane H 5 that is the scanning plane rotates counterclockwise about the y-axis. It is a model figure by which the transmission direction of a system is changed.
  • Figure 23 shows the case where the ultrasonic beam transmitted along the vertical plane H 5 is reflected from the fish school F S and this reflected echo is received by the received beam.
  • Figure 24 shows that while the ultrasonic beam scans on the umbrella-shaped surface H 6 formed around the hull, the scanning surface U-shaped surface H 6 changes the angle ⁇ relative to the xy plane. It is a model figure by which the transmission direction of an ultrasonic beam is changed
  • Figure 25 shows the data in the case where the ultrasonic beam transmitted along the umbrella-shaped surface H6 is reflected from the fish FS and the reflected beam is received by the receiving beam. .
  • Figure 26 shows the transmission direction of the ultrasonic beam changed so that the ultrasonic beam scans on the slant surface H7 and the slant surface H7, which is the scanning surface, swings around the y-axis.
  • an algorithm for estimating fish quantity information of a school of fish is constructed.
  • the underwater detection device can estimate the fish quantity information of the fish school FS based on either the calculation principle using the cylindrical coordinate system or the calculation principle using the spherical coordinate system. In particular, if we know the backscattering intensity T s of a single fish that forms the school FS, we can estimate the amount N of fish in the school FS.
  • the “backscattering intensity T s of a single fish” is an index obtained from the reflected echo from this single fish when an ultrasonic signal is transmitted toward the single fish, and is proportional to the square of the fish length. It is clear to do.
  • the “fish volume information of the school FS” in the present invention means the approximate number of tails N in the fish FSS, which is an evening fish, and the number N of these tails and this school FS. It means a value (NXT s) multiplied by the backscattering turbulence intensity TT ss of a single fish, and is a concept that includes one or both of them. That is, the underwater detection device according to the present invention can calculate only the amount N of fish in the fish FS, can calculate only (NXT s) in the fish FS, and both N and (NXT s) Any of those that can be calculated may be used.
  • the underwater detection device of the present invention uses a scanning sonar (multi-beam sonar) capable of searching in a three-dimensional direction.
  • the scanning sonar shall have the configuration shown in the control block diagram of FIG.
  • the scanning sonar 1 includes a transducer 2 and a transmitter.
  • the receiving unit 4 forms a receiving beam in a predetermined two-dimensional direction, and receives a reflected echo reflected from a target such as a school of fish by the receiving beam.
  • the signal processor 5 processes the received beam signal and calculates the fish quantity information of the school of fish. The processing in the signal processing unit 5 will be described in detail in the first embodiment and the second embodiment.
  • the signal processed by the signal processor 5 corresponds to the input converted sound intensity.
  • the display unit 6 displays a normal sonar echo image, and also displays the input converted sound intensity P M 2 of the received beam and the fish quantity information of the school of fish calculated by the signal processing unit 5.
  • to form a receive beam in a predetermined two-dimensional direction means that a large number of receive beams narrowed down one-dimensionally are formed simultaneously in two-dimensional multidirectional directions, and two receive beams are formed in two dimensions. Any of the embodiments in which the layers are sequentially formed in the multiple directions may be used.
  • the position of the transducer 2 provided at the bottom of the hull 7 to be described later is set to the origin 0 of each coordinate system
  • the front horizontal direction of the hull 7 (that is, For a moving hull 7, the virtual axis extending in the direction of the hull 7) is the axis (first axis)
  • the virtual axis perpendicular to the horizontal direction from the hull 7 to the X axis is the y axis (second axis).
  • the imaginary vertical axis extending vertically downward from the origin 0 is defined as the z-axis (third axis).
  • a virtual plane including the X axis and the y axis is defined as the xy plane (first surface)
  • a virtual plane including the X axis and the z axis is defined as the xz plane (second surface)
  • the y axis and the z axis is defined as the yz plane.
  • An imaginary plane including is called the yz plane.
  • the transmission direction of the ultrasonic beam is the r direction.
  • the r direction is a direction that forms an angle ⁇ with respect to the xy plane
  • an orthogonal projection onto the xy plane forms an angle ⁇ clockwise with respect to the X axis.
  • Fig. 2 is a model diagram of the vertical cylindrical coordinate system
  • Fig. 3 is a diagram showing the positional relationship between the transducer 2 (origin O) and the school of fish F S.
  • transducer 2 As shown in Fig. 2, let us consider the case where the ultrasonic beam transmitted from the transducer 2 toward the seawater is reflected from the fish school F S and the reflected echo is received by the received beam.
  • the shape of transducer 2 is spherical. In other words, this means that the dependence of the angle ⁇ formed by the r direction with respect to the xy plane is not considered for the transmission signal strength P and the equivalent beam width ⁇ .
  • the ultrasonic beam is transmitted in the depth direction of the seawater while changing the angle with respect to the xy plane (that is, the angle with respect to the y axis on the yz plane) ⁇ .
  • the range of the angle ⁇ is ⁇ ⁇ 0 ⁇ ⁇ 2 [r a d].
  • the hull 7 moves in the positive direction of the X axis while scanning an ultrasonic beam on the yz plane.
  • the density of the fish FS is expressed as n (r, ⁇ , ⁇ ).
  • the total amount of fish in the school of fish can be expressed by the following equation (1).
  • the r-th k-th is represented as r (k)
  • the ⁇ -direction i-th is represented as ⁇ (i)
  • the x-direction j-th is represented as x (j). To do.
  • N J n (r, ⁇ , ⁇ )-rdrd ⁇ d ⁇
  • the input equivalent sound intensity P M 2 (r, ⁇ , X) is expressed by the following formula 2 from the beam angle 0, the distance r in the .r direction to the y axis on the yz plane, and the distance X in the X axis direction. be able to.
  • Equation 2 ( Equation 2) 2 ( ⁇ ⁇ ⁇ )-Ts- ' 0 (e 2 "") 2 -fn (r', ⁇ ', x')-h (r ', ⁇ ', x '; r, ⁇ , x) -r'-dr'd0'dx '
  • P D 2 is the transmitted signal strength
  • a is the absorption attenuation coefficient
  • h is the point spread function.
  • Fig. 4 (a) shows the coordinate system when two-dimensional continuous scanning of the ultrasonic beam is performed in the ( ⁇ , ⁇ ) direction
  • Fig. 4 (b) shows the imaging when the point target is two-dimensionally scanned.
  • the transmission / reception directivity function of one ultrasonic beam is expressed as b ( ⁇ , ⁇ ; ⁇ ", ⁇ "). This represents the normalized sensitivity of the (0 '', ⁇ ") direction of the ultrasonic beam transmitted and received in the (0, ⁇ ) direction.
  • two-dimensional continuous scanning of the ultrasonic beam is performed.
  • This spread is called a point spread function and expressed as h (r ', ⁇ ', '; r, ⁇ , ⁇ ).
  • h h (r ', ⁇ ', '; r, ⁇ , ⁇ ).
  • the point spread function h (r ', ⁇ ⁇ , ⁇ '; r, ⁇ ,) is obtained by using the transmission and reception directivity function b ( ⁇ , ⁇ ; ⁇ ", ⁇ ") and the transmission envelope function R (r) It can be expressed as Equation 3 below.
  • the envelope function R (r) is
  • R (r) 1
  • ⁇ cr / 4- 0
  • ⁇ no 2 X r 2 X ⁇ is obtained.
  • ⁇ is called the equivalent beam width and is defined by a two-dimensional function of b ( ⁇ , ⁇ ; ⁇ ', ⁇ '). It can be considered that the volume integral value of the point spread function when using the cylindrical coordinate system is the same value.
  • Equation 5 the integral in [] in Equation 5 can be expanded as shown in Equation 6 below.
  • Equation 6 is the speed of sound
  • ⁇ is the equivalent beam width
  • the received signal of the actual multi-beam sonar is obtained when the hull 7 travels in the X-axis direction while the ultrasonic beam scans on the yz plane.
  • the beam pitch for scanning on the yz plane is ⁇ 0
  • the transmission interval in the X-axis direction is ⁇ x
  • the beam pitch in the r-direction is ⁇ ⁇
  • 0 0
  • i-th 0
  • X-axis direction j-th r-direction k
  • N-Ts P u,-( ⁇ ) 3-(e 2
  • Equation 9 leads to the product of the backscattering intensity T s of a single fish that forms a fish school F S and the amount of tail N in the fish school F S based on the principle of calculating the fish quantity information using a cylindrical coordinate system.
  • the backscattering intensity T s of a single fish forming the fish school F s is known, the amount N of fish in the fish school F S can be derived. In this way, the approximate number N of fish in the fish school F S can be determined.
  • the shape of the transducer 2 is spherical has been described.
  • the shape is not limited to this and may be a cylindrical shape.
  • the number 2 is replaced with the number 1 0
  • the number 5 is replaced with the number 1 1
  • the number 6 is replaced with the number 1 2
  • the number 7 is replaced with the number 13.
  • the number 8 is represented by the number 14 instead
  • the number 9 is represented by the number 15 instead.
  • the transmitted signal strength is P (0) and the equivalent beam width is ⁇ ( ⁇ ). This means that the transmitted signal strength P 0 2 and the equivalent beam width ⁇ depend on the angle ⁇ of each beam with respect to the xy plane.
  • ⁇ ⁇ 2 ( ⁇ , ⁇ , X) Ts- ⁇ ° ( ⁇ 4 ) (e- 2 ⁇ ') 2 -fn (r, 0 x) -h (r', ⁇ ', x; r, ⁇ , x) -r dr'd0W
  • the first embodiment is an embodiment of a method for outputting fish quantity information in a vertical cylindrical coordinate system. Therefore, the calculation principle of fish quantity information using a cylindrical coordinate system can be applied as it is.
  • the first embodiment using the fish quantity information calculation principle using the cylindrical coordinate system will be described with reference to FIGS. 2, 5, and 6.
  • FIG. Fig. 5 is a data diagram of the received beam when the ultrasonic beam is scanned on the yz plane within the range of 0 ⁇ ⁇ ⁇ ⁇ / 2 C rad].
  • the input equivalent sound intensity P ⁇ 2 of the received beam is shown, and the concentration shown in FIG. 5 increases as the input equivalent sound intensity P M 2 of the receive beam increases.
  • Figure 6 is a model diagram showing the progress of hull 7 '. , ⁇ Lance Deusa
  • the shape of 2 is spherical.
  • the hull 7 crawls a / ⁇ acoustic beam on the yz plane.
  • the measurement area by the multi-beam sonar 1, that is, the transmission / reception direction of the ultrasonic beam is set.
  • the transmission and reception directions are represented by r (k), ⁇ (i), and x (j).
  • the measurement range in the r direction is 0 ⁇ r ⁇ the ultrasonic beam detection range (m)
  • the measurement range in the 0 direction is OS TT ZS (rad)
  • the measurement range in the x axis direction is 0 ⁇ X ⁇ hull 7. Travel distance [m].
  • the input equivalent sound intensity P M 2 for this received beam is shown in FIG. Is displayed on the display 6 as data displayed in shades of gray.
  • the input converted sound intensity P M 2 for such a received beam is two-dimensionally integrated.
  • the transducer 2 is spherical
  • the two-dimensional echo integral value S j on the yz plane is expressed by the following expression 16.
  • K 2 is the input equivalent sound intensity for each volume element (r, ⁇ , ⁇ ), ⁇ . 2 indicates the transmitted signal strength
  • the transmission interval of the transmission beam (reception interval of the reception beam) is calculated for the traveling direction of the hull 7.
  • the transmission interval of the transmission beam is the distance ⁇ ⁇ (j) shown in Fig. 6, and is expressed by the following equation 17.
  • the factor 1 8 5 2 in the number 17 is the unit change from miles (NM) to meters. Conversion coefficient.
  • L atj is the latitude (minute) of the hull at each j, and L ongj is the longitude (minute) of the hull at each j.
  • Equation 9 the obtained two-dimensional echo integral value S ”on the yz plane is volume-integrated in the direction of the hull.
  • the approximate number N of fish in the fish school F S can be calculated.
  • the calculated approximate number N of fish in the fish school F S is displayed on the display unit 6.
  • the angle of the ultrasonic beam with respect to the xy plane is 1 ⁇ .
  • Ultrasonic beam is transmitted and received while changing within the range of 0 ⁇ ⁇ ⁇ ⁇ / 2 [r a d], but the range of angle ⁇ is not limited to this, and 0 ⁇ ⁇ ⁇
  • the fish FS information is calculated on the assumption that an ultrasonic beam is transmitted and received while changing the angle ⁇ with respect to the xy plane.
  • the angle to the X z plane is not limited to this.
  • the angle to the X z plane is not limited to this.
  • the scanning sonar 1 is used as the sonar device, but the sonar device is not limited to this, and it is continuously wide in the direction along the yz plane (from the vertically lower side of the hull 7 to both sides).
  • Underwater exploration sona Don’t matter.
  • the water bottom exploration sonar disclosed in Japanese Patent Laid-Open No. 2 0 0 1 1 9 9 9 14 is applicable.
  • the range of the angle ⁇ of each beam with respect to the y axis on the yz plane is not fixed.
  • the transducer For example, 7 ⁇ / 4 [rad] on both sides of the z axis ( ⁇ Z 2 [Rad]) and ⁇ 3 [rad] on both sides of the z axis (2 ⁇ 3 [rad]).
  • a planar one-dimensional transducer array in which strip-shaped transducers are arranged
  • a curved one-dimensional array a planar one-dimensional transducer array is curved in the transducer array direction
  • the present invention is not limited to this and may be a cylindrical shape.
  • the number 16 is represented by the number 19 instead, and the number 18 is represented by the number 20 instead.
  • the transmitted signal strength is P (0) and the equivalent beam width is ⁇ ( ⁇ ).
  • the second embodiment is an embodiment of a method for calculating fish quantity information in a vertically inclined cylindrical coordinate system. Therefore, the fish quantity information calculation principle using the cylindrical coordinate system cannot be applied as it is, and correction is required.
  • the shape of transducer 2 is spherical. A second embodiment using the fish quantity information calculation principle using a cylindrical coordinate system will be described with reference to FIGS. 7 to 11.
  • Fig. 7 is a model diagram of the upper and lower oblique cylindrical coordinate system.
  • the hull 7 Is traveling in the positive direction of the X-axis while scanning an ultrasonic beam on the slant surface H 1.
  • “Slant plane H 1” means a virtual axis that includes the w axis (lower axis) on the X z plane that intersects the y axis and the z axis at a predetermined angle q in the positive direction of the X axis.
  • the ultrasonic beam is transmitted in the depth direction of the sea water while changing the angle 0 with respect to the y axis on the slant plane H I.
  • the angle q is set within the range — ⁇ / 2 ⁇ ⁇ ⁇ / 2 [r a d]
  • the angle 0, is an angle that changes within the range 0 ⁇ ⁇ ⁇ ⁇ [r a d).
  • FIG. 8 shows the positional relationship between the transducer (origin ⁇ ) and the school of fish F S.
  • the input equivalent acoustic intensity P M 2 (r, ⁇ ,, X) is expressed by the following equation 2 2 based on the distance r in the r direction and the distance X in the X axis direction from the beam angle 0 to the y axis on the slant plane HI: Can be represented.
  • ⁇ P is the transmitted signal strength
  • ⁇ is the absorption attenuation coefficient
  • h is the spreading function.
  • P M 2 is continuously acquired and integrated in the ⁇ , ⁇ , and X directions.
  • multiplying the number 2 2 by TVG (Time Varied Gain) and the volume element leads to the following number 2 3.
  • Equation 2 4 [Number 2 4] ph (r ', 0j, x ; r, 0 x) cosq complement.
  • C is the speed of sound
  • ⁇ is the pulse width
  • ⁇ is the equivalent beam width
  • N-Ts ⁇ -' ⁇ - ⁇ f ° (r ⁇ ⁇ ,, ⁇ ) ⁇ 3- (e 2ar ) 2 -cosqdrdff, dx
  • the received signal of the multi-beam sonar when cr ⁇ 0 ! ⁇ is obtained by scanning the HI on the slant surface HI while the hull 7 is traveling in the positive direction of the X axis.
  • the beam pitch on the slant surface H 1 is ⁇
  • the transmission interval in the X-axis direction is ⁇ X
  • the beam pitch in the r-direction is ⁇ ⁇ , 0, direction i-th, X-axis direction j-th
  • the output of the ultrasonic beam in the r-direction k is P Mi. j. k
  • the above formula 2 6 is expressed by the following formula 2 7. ⁇
  • the principle of calculating the fish quantity information of the fish school FS in the up and down oblique cylindrical coordinate system is based on the principle of calculating the fish quantity using the cylindrical coordinate system described above.
  • the measurement region by the multi-beam sonar 1, that is, the transmission / reception direction of the ultrasonic beam is set.
  • the transmission and reception directions are represented by r (k), 0, (i), and x (j).
  • the measurement range in the direction is 0 ⁇ 0, ⁇ ⁇ (rad)
  • the measurement range in the x-axis direction is 0 ⁇ x ⁇ the distance traveled by the hull 7 (m)
  • the measurement range in the r direction is 0 ⁇ r ⁇
  • Fig. 9 is a data diagram of the received beam when the ultrasonic beam scans on the slant surface HI within the range of ⁇ ⁇ 0, ⁇ ⁇ [rad].
  • the transmission / reception interval of the transmitted / received ultrasonic beam is calculated.
  • the transmission / reception interval AX j of the ultrasonic beam from the hull 7 is the distance shown in FIG. 10 or the interval between each j shown in FIG. expressed.
  • FIG. 9 shows the input converted sound intensity P M 2 of the received beam, and the concentration shown in FIG. 9 increases as the input converted sound intensity P M 2 of the receive beam increases.
  • Fig. 10 is a model diagram showing the progress of hull 7. Furthermore, Fig. 11 is a conceptual diagram for explaining an arithmetic expression for calculating the amount of fish in a school of fish.
  • the coefficient in Equation 2 9 1 8 5 2 is the unit conversion factor from miles (NM) to meters
  • L atj is the hull latitude (min) at each j
  • L ongj is the hull of each h Longitude (minutes).
  • the approximate number N of fish in the fish school FS can be calculated. As in the first principle, the calculated approximate number N of fish in the fish school FS is displayed on the display unit 6.
  • the ultrasonic beam is transmitted and received while changing ⁇ i in the range of 0 ⁇ 0, ⁇ 7 ⁇ [rad], but the range of angle 0, is not limited to this, and 0 ⁇ ⁇ ⁇ ⁇ / It may be changed within the range of 2 [rad]. In other words, it may be varied within an arbitrary range within the range of Q ⁇ ⁇ ⁇ ⁇ ⁇ [rad].
  • the fish volume information of the fish school FS is calculated on the assumption that the ultrasonic beam is transmitted and received while changing the angle 0 with respect to the y axis on the slant plane HI. It is not limited to. For example, the calculation may be performed on the assumption that the angle with respect to the w axis at H 1 on the slant plane is changed.
  • the transducer 2 is spherical has been described.
  • the present invention is not limited to this and may be a cylindrical shape. In this case, the number 2 2 is replaced with the number 3 1, the number 2 3 is replaced with the number 3 2, the number 2 4 is replaced with the number 3 3, and the number 2 5 is replaced with the number 3 2.
  • the number 3 4 is replaced with the number 2 6 instead of the number 3 5, the number 2 7 is replaced with the number 3 6, the number 2 8 is replaced with the number 3 7, and the number 3 0 is replaced with the number 3 6. Instead, they are represented by the numbers 3 and 8, respectively.
  • the transmitted signal strength is P o 2 (0)
  • the equivalent beam width is ⁇ ( ⁇ ). This means that the transmitted signal strength P and the equivalent beam width ⁇ depend on the angle ⁇ of each beam with respect to the y-plane.
  • ⁇ ⁇ ⁇ , ⁇ ,, ⁇ ) TS-'° ( ⁇ (e- 2 " 2 ' cos a fn (r ', ⁇ , x')-h (r ', 0 ,; x'; r, x ) T'-dr'dB, 'dx'
  • the third embodiment is an embodiment of a method for calculating fish quantity information in a left-right oblique cylindrical coordinate system.
  • the calculation principle of fish quantity information using the cylindrical coordinate system described above can be applied.
  • the shape of transducer 2 is spherical.
  • a third embodiment using the fish quantity information calculation principle using a cylindrical coordinate system will be described below with reference to FIGS. 12 and 13.
  • Fig. 12 is a model diagram of the left and right oblique cylindrical coordinate system
  • Fig. 13 is a plan view showing the progress of the hull 7 shown in Fig. 12.
  • the hull 7 is traveling in the positive direction of the X-axis while striding an ultrasonic beam on the oblique vertical plane H 2.
  • the algorithm for calculating the fish volume information of the fish school F S in this combination will be explained.
  • the “oblique vertical plane H 2” refers to a virtual plane that includes a virtual s-axis and a z-axis that intersect the X-axis horizontally and clockwise at a predetermined angle ⁇ .
  • the s-axis is a virtual axis on the xy plane that intersects the y-axis horizontally and clockwise at an angle ( ⁇ / 2) [r a d].
  • the ultrasonic beam is transmitted in the depth direction of the sea water while changing the angle 0 2 with respect to the s axis on the oblique vertical plane H 2.
  • the angle 0 2 is an angle that changes within the range of ⁇ 0 2 ⁇ ⁇ [rad].
  • the measurement area by the multi-beam sonar 1, that is, the transmission / reception direction of the ultrasonic beam is set.
  • the transmission and reception directions are represented by r (k), ⁇ 2 (i), and x (j).
  • the measurement range in the r direction is 0 ⁇ r ⁇ the ultrasonic beam detection range [m]
  • the measurement range in the 0 2 direction is 0 ⁇ 0 2 ⁇ ⁇ [rad]
  • the measurement in the x axis direction is the distance traveled [m] for 0 ⁇ x ⁇ hull 7.
  • the input equivalent acoustic intensity P M 2 for this received beam Is displayed on the display unit 6 as shaded data as shown in FIG. 5 described in the first embodiment or FIG. 9 described in the second embodiment (illustration is omitted in this embodiment). To do).
  • P Mi .L k 2 represents the input converted acoustic intensity for each volume element (r, ⁇ 2) X), and P represents the transmitted signal intensity.
  • the transmission / reception interval of the transmitted and received ultrasonic beams is calculated.
  • the coefficient 1 8 5 2 in the number 40 is the conversion factor of units from miles (NM) to meters, L at ⁇ is each: Latitude (minutes) of the hull at j, and Long ⁇ is each j Noto The longitude (minutes) of the mushroom hull.
  • Equation 9 the obtained two-dimensional echo integration value S j on the oblique vertical plane H 2 is volume-integrated in the direction of travel of the hull.
  • the approximate number of tails N in the fish school FS can be calculated.
  • the calculated approximate number N of fish in the fish school FS is displayed on the display section 6.
  • an ultrasonic beam is transmitted and received while changing the angle 0 2 with respect to the s-axis on the oblique vertical plane H 2 within the range of 0 ⁇ 0 2 ⁇ ⁇ [rad].
  • the range of is not limited to this, 0
  • theta 2 ultrasonic beam is calculated fish quantity information of the fish group FS assuming that you sent and received it is not limited thereto. For example, it may be calculated on the assumption that the angle on the oblique vertical plane H 2 with respect to the z axis is changed.
  • the s-axis is not limited to the clockwise crossing with respect to the y-axis, but may cross the counterclockwise direction.
  • the clockwise angle ( ⁇ - ⁇ / 2) [r a d] with respect to the y axis is ( ⁇ - ⁇ / 2) ⁇
  • the present invention is not limited to this, and it may be cylindrical.
  • the number 3 9 is represented by the number 4 2 instead, and the number 4 1 is represented by the number 4 3 instead.
  • the transmitted signal strength is P Q 2 (0)
  • the equivalent beam width is ⁇ ( ⁇ ). This means that the transmitted signal strength P and the equivalent beam width ⁇ depend on the angle ⁇ relative to the xy plane.
  • the fourth embodiment is an embodiment of a method for calculating fish quantity information in an up / down / left / right oblique cylindrical coordinate system.
  • the calculation principle of the fish quantity information using the cylindrical coordinate system described above can be applied.
  • the shape of transducer 2 is spherical.
  • the fourth embodiment using the fish quantity information calculation principle using the cylindrical coordinate system will be described below with reference to FIGS. 14 and 15.
  • Fig. 14 is a model diagram of an up-down, left-right, and slanted cylindrical coordinate system
  • Fig. 15 is a plan view showing the progress of the hull 7 shown in Fig. 14.
  • the hull 7 is traveling in the positive direction of the X-axis while scanning an ultrasonic beam on the slanted slant surface ⁇ 3.
  • the algorithm for calculating the fish volume information of the fish school F S in this case will be explained.
  • “diagonal slant plane ⁇ 3” means a virtual s-axis that intersects the X-axis horizontally and clockwise at a predetermined angle ⁇ , and the s-axis.
  • the s-axis is a virtual axis on the xy plane ′ that intersects the y-axis horizontally and clockwise at an angle ( ⁇ / 2) C rad].
  • the ultrasonic beam is transmitted in the depth direction of the sea water while changing the angle 0 3 with respect to the s axis on the oblique slant plane H 3.
  • the angle 0 3 is an angle that changes within the range of ⁇ 0 3 ⁇ ⁇ [rad].
  • the measurement area by the multi-beam sonar 1, that is, the transmission / reception direction of the ultrasonic beam is set.
  • the transmission and reception directions are represented by r (k), 03 (i), and x (J).
  • the measurement range in the r direction is 0 ⁇ r ⁇ the ultrasonic beam detection range (m)
  • the measurement range in the 0 3 direction is 0 ⁇ 0 3 ⁇ ⁇ (rad)
  • the measurement range in the x axis direction is 0 ⁇ X ⁇ Hull 7 mileage [m].
  • the input equivalent acoustic intensity P for this received beam M 2 is displayed on the display unit 6 as grayscale data as shown in FIG. 5 described in the first embodiment or FIG. 9 described in the second embodiment (illustration is omitted in this embodiment). To do).
  • P Mi. j. k 2 represents the input converted acoustic intensity for each volume element (r, ⁇ 3> X), and P Q 2 represents the transmitted signal intensity. .
  • the transmission / reception interval of the transmitted / received ultrasonic beam is calculated.
  • Equation 45 There are multiple methods of calculating AX j, and the distance between transmissions can be calculated from the latitude and longitude for each j in the X direction as shown in Equation 45 below.
  • Equation 4 5 The coefficient 1 8 5 2 in the number 4 5 is the conversion factor of units from miles (NM) to meters, L atj is the hull latitude (minutes) at each j, and Longong is at each j The longitude (minutes) of the hull.
  • Equation 9 leads to the following Equation 4-6.
  • N-Ts — ' ⁇ -—— ⁇ ), 2 >' ⁇ Sj.A. Xj ⁇ P 0 2- ⁇ J Therefore, if the fish's T s is known, the approximate number N of fish in the school FS is calculated. can do. The approximate number N of fish in the calculated fish school FS is displayed on the display 6 Is displayed.
  • the sound beam is transmitted and received while changing the angle 0 3 with respect to the S axis on the slant slab surface H 3 within the range of 0 ⁇ S 3 ⁇ 7T (rad).
  • the range of 3 is not limited to this, and may be varied within a range of 0 ⁇ ⁇ 3 ⁇ ⁇ [rad].
  • the fish volume information of the fish school FS is calculated on the assumption that the sound beam is transmitted and received while changing the angle 0 3 with respect to the s-axis on the slanted slant ridge surface H 3.
  • the present invention is not limited to this.
  • changing the angle on the slant ⁇ ⁇ plane ⁇ 3 with respect to the W ′ axis may be calculated as f iJ.
  • the S axis is not limited to the clockwise crossing with respect to the y axis, and may be a counterclockwise crossing.
  • the clockwise angle with respect to the y axis ( ⁇ 1 ⁇ 2) CI ⁇ ad is ( ⁇ -7t / 2) ⁇ 0.
  • the present invention is not limited to this and may be a cylindrical shape.
  • the number 4 4 is represented by the number 47 instead, and the number 4 6 is represented by the number 48 instead.
  • the fifth embodiment is an embodiment of a method for calculating fish quantity information in an umbrella-shaped plane horizontal movement coordinate system.
  • the calculation principle of fish quantity information using the above-described cylindrical coordinate system can be applied.
  • the shape of the transformer 2 is spherical.
  • the fifth embodiment using the fish quantity information output principle using the cylindrical coordinate system is described below with reference to FIGS. 16 to 20.
  • Fig. 16 is a model diagram of an umbrella-shaped horizontal movement coordinate system
  • Fig. 17 is a diagram showing the relationship between the lance lance adjuster 2 (origin O) and the school of fish F S.
  • the hull 7 is an imaginary umbrella-shaped surface H formed around the hull 7.
  • Umbrella-shaped surface H 4 J is an imaginary surface that is formed around hull 7 by changing angle ⁇ while keeping angle ⁇ constant. ⁇ 0 ⁇ 7t / 2 An angle set within the range of 2 [rad] The ultrasonic beam is directed toward the depth of the seawater while changing the clockwise angle ⁇ relative to the xz plane. Note that the angle ⁇ is an angle that changes within the range of 7t Z 2 ⁇ ⁇ ⁇ ⁇ / 2 [rad].
  • the input equivalent acoustic intensity P M 2 ( r , ⁇ , ⁇ ) can be calculated from the clockwise beam angle ⁇ with respect to the ⁇ ⁇ plane on the umbrella plane ⁇ 4, the distance r in the beam transmission direction, and the distance X in the X-axis direction.
  • the following number 50 can be expressed.
  • P o 2 is the transmitted signal strength
  • ⁇ is the absorption attenuation coefficient
  • h is the spread function
  • the input equivalent sound intensity P M 2 obtained for each unit element is continuously acquired in the ⁇ , ⁇ , and X directions and integrated.
  • multiplying the number 50 by the TVG (Time Varied Gain) and the volume element leads to the following number 51.
  • N'Ts S P M (r ' x) ' r 2m (e 2 ⁇ ) 2 oos0 T'Cos -stn -drd ⁇ dx
  • the received signal of the actual multi-beam sonar can be obtained by scanning the umbrella-shaped surface H 4 while the hull 7 travels in the positive direction of the X axis.
  • the angle of clockwise rotation with respect to the xz plane on the umbrella-shaped surface H 4 is ⁇
  • the transmission pitch in the X-axis direction is ⁇ ⁇
  • the beam pitch in the r-direction is ⁇ ⁇
  • N'Ts cos ⁇ -sm ' ⁇
  • the measurement area by the multi-beam sonar 1, that is, the transmission / reception direction of the ultrasonic beam is set.
  • the transmission and reception directions are represented by r (k), ⁇ (i), and x (j).
  • the measurement range in the ⁇ direction is- ⁇ / 2 ⁇ ⁇ ⁇ ⁇ / 2 [r a d], x 3 axis-
  • the measurement range in 8 directions is 0 ⁇ x ⁇ mileage of hull 7 [m], and the measurement range in r direction is 0 ⁇ r ⁇ ultrasonic beam detection distance [m].
  • Fig. 18 is a data diagram of the received beam when the ultrasonic beam scans on the umbrella-shaped surface H 4 within a range of 1/2 ⁇ ⁇ > ⁇ ⁇ 2 [rad].
  • Figure 19 is a model diagram showing the relationship between the traveling direction of the hull 7 and the transmission direction r of the ultrasonic beam.
  • Equation 5 7 S i. J in Equation 5 6 is expressed by Equation 5 7 below.
  • the transmission / reception interval of the ultrasonic beam transmitted / received from the hull 7 is calculated.
  • the transmission / reception interval ⁇ X j of the ultrasonic beam from the hull 7 is the distance shown in FIG. 20 and is expressed by the following equation 58.
  • Figure 20 is a model diagram showing how the hull 7 moves.
  • the coefficient 1 8 5 2 in the number 5 8 is miles (NM) This is the conversion coefficient of the unit from metric to meter.
  • L atj is the latitude (minute) of the hull at each j, and Longj is the longitude (minute) of the hull 7 at each j.
  • Equation 9 leads to Equation 59 below.
  • N-Ts cosff-sm0 ——; —— ⁇ 2-S.- ⁇ ,
  • the approximate number of tails in the fish school FS can be calculated.
  • the calculated approximate number N of fish in the fish school FS is displayed on the display unit 6.
  • the angle ⁇ with respect to the xy plane is kept constant while keeping the angle ⁇ constant. Force of transmitting / receiving ultrasonic beam while changing clockwise angle ⁇ with respect to z-plane within the range of- ⁇ '2 ⁇ ⁇ ⁇ ⁇ / 2 [rad], the range of angle ⁇ is limited to this It may be changed within an arbitrary range.
  • the transmission / reception range of the ultrasonic beam is, for example, in the range of ⁇ / 2 ⁇ ⁇ ⁇ 3 ⁇ / 2 (rad), in the range of 0 ⁇ ⁇ ⁇ ⁇ (rad), and one ⁇ ⁇ ⁇ ⁇ 0 (rad)
  • it may be changed within the range of O ⁇ S TT ZS [rad] or within the range of 0 ⁇ ⁇ 2 ⁇ C rad].
  • the transducer 2 is spherical has been described.
  • the present invention is not limited to this, and a cylindrical shape 4 may be used.
  • the number 5 0 is replaced by the number 60
  • the number 5 1 is replaced by the number 6 1
  • the number 5 2 is replaced by the number 6 2
  • the number 5 3 is replaced by the number 5 1.
  • Formula 63 Formula 5 4 is replaced by Formula 6 4
  • Formula 5 5 is replaced by Formula 65
  • Formula 59 is replaced by Formula 66.
  • the transmitted signal strength is P ( ⁇ )
  • the equivalent beam width is ⁇ ( ⁇ ).
  • N-Ts sin0 'cos ⁇ '
  • N-Ts cosff- s n0 ⁇ - ⁇ ⁇ ⁇ - - " ⁇ Sj-Ax,
  • FIG. 21 is a model diagram of a spherical coordinate system.
  • the ultrasonic beam transmitted from the transducer 2 into the seawater is reflected from within the fish school F S and this reflected echo is received by the received beam.
  • the ultrasonic beam is directed in a direction having an angle ⁇ in the depth direction in seawater with respect to the xy plane and a clockwise angle ⁇ with respect to the xz plane.
  • the two-dimensional direction of the ultrasonic beam transmitted and received from the hull 7 is the direction along the imaginary plane that is formed with the angle ⁇ with respect to the X y plane and the angle ⁇ with respect to the xz plane constant. Can be considered. Then, three-dimensional integration is performed by changing a fixed angle among the angle ⁇ with respect to the xy plane and the angle ⁇ with respect to the X z plane. Note that the range of angle 0 with respect to the xy plane is ⁇ 0 ⁇ ⁇ 2 [r a d], and the range of angle ⁇ with respect to the x z plane is 0 ⁇ ⁇ ⁇ 2 ⁇ [r a d].
  • N ⁇ n (r, ⁇ , ⁇ )-r 2 cos ⁇ 9- drd0d ⁇ , and the transmitted beam in the direction of (r, ⁇ , ⁇ ) is reflected from the fish school FS, and this reflected echo is received by the received beam.
  • the input converted sound intensity ⁇ ⁇ 2 obtained when received by the signal processor is processed by the signal processing unit 5 through a series of arithmetic processing described below. It is.
  • the input equivalent sound intensity P M 2 (r, ⁇ , ⁇ ) can be expressed by the following formula 68, where the beam angle ⁇ with respect to the ⁇ y plane, the beam angle ⁇ with respect to the X axis, and the time conversion distance r: it can.
  • P 2 (ff) 73 ⁇ 4 ⁇ (e 2ar ) 2 - ⁇ &', ⁇ ', ⁇ ')-(r', ⁇ ', ⁇ '; r, ⁇ , ⁇ ) -r ' l cos0 -dr'de' ⁇ '
  • P Q 2 is the transmitted signal strength
  • ⁇ is the absorption attenuation coefficient
  • h is the point spread function
  • Equation 69 the following Equation 69 is derived.
  • Equation 6 9 the integral in [] in Equation 6 9 can be expanded as in Equation 70 below.
  • r is a constant value r 'in the effective integration range of h Considered integral
  • N-Ts ⁇ - ⁇ — / P Cr, ⁇ , ⁇ ) ⁇ 4 ( ⁇ 1 ⁇ ') ! ⁇ cos0- drdff ⁇
  • the product of the backscattering intensity T s of a single fish that forms the school FS and the amount of tail N in the school FS Is guided.
  • the backscattering intensity T s of a single fish forming the fish school FS is known, the amount N of fish in the fish school FS can be derived. In this way, the approximate number N of fish in the fish school FS can be determined.
  • the transducer 2 is spherical
  • the present invention is not limited to this and may be a cylindrical shape.
  • the number 6 8 is the number 7 3 instead
  • the number 6 9 is the number 7 4 instead
  • the number 70 is the number 7 instead.
  • N-Ts ⁇ fP r, ⁇ , ⁇ ) ⁇ He ⁇ ! (&) ⁇ (0) cos & -drd0d ⁇
  • the ultrasonic beam transmitted from the actual multi-beam sonar is reflected from the fish FS, and the data when this reflected echo is received by the received beam is obtained along the beam direction r in the (0, ⁇ ) direction. It is done.
  • the beam pitch in the ⁇ direction is ⁇ and the beam pitch in the ⁇ ⁇ direction is ⁇ and the output of the i-th ultrasonic beam in the ⁇ direction is P Mi .j (r)
  • Equation 7 9 is This is the number 8 0.
  • the right side of the number 80 represents echo integration. If the TVG correction r 4 (e 2 a r ) 2 , the integration after correcting the angle ⁇ , and T s are known, the total tail amount N can be obtained from the echo integration value. Furthermore, when discretization in the direction of distance r is introduced, the number 80 can be expressed by the following number 8 1.
  • the product of the backscattering intensity T s of a single fish forming S and the amount N of fish in the fish school F S is derived. Also, if the backscattering intensity T s of a single fish that forms the school of fish F s is known, the angle and the tail N within the school F S can be derived. In this way, the approximate number N of fish in the fish school F S can be grasped.
  • FIG. 2 2 shows that the * s wave beam scans on the virtual vertical plane H 5 including the X axis and the z axis, while the vertical plane H 5 that is the scanning plane is counterclockwise around the y axis.
  • FIG. 3 is a model diagram in which the transmission direction of an ultrasonic beam is changed so as to rotate around.
  • Figure 23 shows that the ultrasonic beam transmitted along the vertical plane H 5
  • the density shown in 2 3 increases.
  • the shape of transducer 2 is Cylindrical shape.
  • the ultrasonic beam is transmitted in the depth direction in the seawater while changing the angle ⁇ with respect to the X axis (angle with respect to the X y plane) ⁇ on the vertical plane H 5. Then, the transmission direction of the ultrasonic beam is changed so that the vertical plane H 5 rotates about the z axis (that is, the angle ⁇ with respect to the X z plane changes).
  • the range of the angle 0 with respect to the xy plane is ⁇ 0 ⁇ ⁇ ⁇ 2 [rad]
  • the range of the angle ⁇ with respect to the X z plane is 0 ⁇ ⁇ ⁇ 2 ⁇ : C rad] .
  • the fish quantity information of the fish school F S can be calculated.
  • this algorithm will not be described, but the measurement area by the multi-beam sonar, that is, the transmission / reception direction of the final wave beam will be set.
  • the transmission and reception directions are represented by r (k) ' ⁇ (i) and ⁇ (J).
  • the measurement range in the r direction is 0 ⁇ r ⁇ the ultrasonic beam detection distance [m]
  • the measurement range in the 0 direction is 0 ⁇ 0 ⁇ ⁇ / 2 [rad]
  • the measurement range in the ⁇ direction is 1 2 it ⁇ 0 [rad]
  • the input equivalent echo intensity PM 2 for this received beam is It is shown on the display 6 as the evening indicated by the shading shown in Fig. 23.
  • P M i .j, k 2 is the input equivalent acoustic intensity for each volume element (0, ⁇ , r), P. 2 indicates the transmitted signal strength.
  • the approximate number N of fish in the fish school F S can be calculated.
  • the calculated approximate number N of fish in the fish school F S is displayed on the display section 6.
  • the range of the angle ⁇ relative to the yz plane is ⁇ 0 ⁇ ⁇ / 2 [rad]
  • the range of the clockwise angle ⁇ relative to the xz plane is 1 ⁇ ⁇ ⁇ 0 [rad] Transmitting and receiving ultrasonic beams while changing within Is not limited to this.
  • the angle ⁇ relative to the y ⁇ plane is
  • 0 ⁇ ⁇ ⁇ [rad] may be changed in any range, and the clockwise angle ⁇ with respect to the xz plane is 0 ⁇ ⁇ 2 ⁇ [rad ⁇ ⁇ ⁇ 0 [rad] or It may be 0 ⁇ ⁇ ⁇ ⁇ [ ⁇ ad] etc. Even in such a case, three-dimensional integration is possible.
  • the approximate number N of fish in the fish FS is calculated by considering the clockwise angle ⁇ relative to the xz plane as a reference.
  • the present invention is not limited to this. Consider counterclockwise angle as reference
  • the transducer 2 has a cylindrical shape.
  • the present invention is not limited to this and may be a spherical shape.
  • the number 8 2 is replaced by the number 8 5 and the number 8 4 is replaced by the number 8 6, respectively.
  • 2 (0) and the equivalent beam width is ⁇ (0)
  • FIG. 6 is a model diagram in which the transmission direction of an ultrasonic beam is changed so as to change.
  • Figure 25 shows the ultrasonic beam transmitted along umbrella plane H6.
  • Fig. 6 is a data diagram when a fish is reflected from within a school of fish FS and this reflected echo is received by a receiving beam.
  • the data shown in Fig. 25 shows the input converted sound intensity P M 2 of the received beam, and the concentration shown in Fig. 25 increases as the input converted sound intensity of the received beam increases.
  • the shape of transducer 2 is assumed to be cylindrical.
  • the ultrasonic beam is maintained in the seawater while keeping the angle ⁇ with respect to the xy plane at a predetermined angle and changing the clockwise angle ⁇ with respect to the xz plane within the range of 0 ⁇ ⁇ 2 ⁇ [rad]. Sent in the depth direction. The transmission direction of the ultrasonic beam is changed so that the angle ⁇ with respect to the xy plane changes.
  • the range of the clockwise angle ⁇ with respect to the x z plane is 0 ⁇ ⁇ ⁇ 2 ⁇ [r a d]
  • the range of the angle 0 with respect to the xy plane is 0 ⁇ ⁇ ⁇ ⁇ Z 2 [r a d].
  • the spherical coordinate system is Based on the calculation principle of the fish quantity information used, the fish quantity information of the school FS can be calculated. The algorithm is described below.
  • the measurement area by the multi-beam sonar that is, the transmission / reception direction of the ultrasonic beam is set.
  • the transmission and reception directions are represented by ⁇ (i), ⁇ (j), and r (k).
  • the measurement range in the r direction is 0 ⁇ r ⁇ the ultrasonic beam detection distance [m]
  • the measurement range in the 0 direction is 0 ⁇ 0 7c Z 2 [rad]
  • the measurement range in the ⁇ direction is 0 ⁇ ⁇ 2 ⁇ [Rad]
  • the input converted sound intensity PM 2 is displayed on the display unit 6 as the data displayed in shades as shown in FIG.
  • the input converted sound intensity PM 2 for the received beam is two-dimensionally echo-integrated.
  • the transducer 2 is cylindrical
  • the two-dimensional echo integral value S j on the umbrella-shaped surface H 6 is expressed by the following formula 8 7.
  • Equation 8 8 Z Then, the following Equation 8 9 is derived from Equation 8 1, Equation 8 7 and Equation 8 8.
  • the approximate number N of fish in the fish school F S can be calculated.
  • the calculated approximate number N of fish in the fish school F S is displayed on the display section 6.
  • the range of the clockwise angle ⁇ with respect to the X z plane is 0 ⁇ ⁇ 2 ⁇ [rad]
  • the range of angle 0 with respect to the xy plane is changed within the range of ⁇ ⁇ 0 ⁇ ⁇ [rad].
  • the clockwise angle ⁇ with respect to the X z plane may be 0 ⁇ * ⁇ 2 7r [rad], one 7t ⁇ ⁇ i> ⁇ 0 [rad] or 0 ⁇ ⁇ ⁇ [ ⁇ ad], etc.
  • the angle 0 with respect to the plane can be changed in an arbitrary range within the range of ⁇ ⁇ 0 ⁇ ⁇ 2 [rad]. Even in this case, three-dimensional integration is possible.
  • angle ⁇ with respect to the xy plane and the clockwise angle ⁇ with respect to the X z plane are considered as references.
  • the approximate number of tails N in the fish school F S is calculated by the above three methods, but is not limited to this.
  • the transducer 2 is cylindrical
  • the present invention is not limited to this, and may be spherical.
  • the number 8 7 is represented by the number 90 instead
  • the number 8 9 is represented by the number 9 1 instead.
  • the transmitted signal strength is P (0)
  • the equivalent beam width is ⁇ ( ⁇ ).
  • Fig. 26 shows that the ultrasonic beam scans on the slanting plane H7, while the slanting plane H7, which is the scanning plane, oscillates about the y-axis.
  • the "Seraing up surface H 7" is a synonymous with Seraing up surface HI described in the second embodiment, the y-axis and Z-axis
  • it is a virtual plane including the w axis on the xz plane intersecting at a predetermined angle q toward the positive direction of the x axis.
  • the shape of transducer 2 is spherical.
  • the beam of ultrasound is transmitted toward the depth direction of the seawater while changing the angle 0 4 with respect to the y-axis on the Kuala up surface H 7. Then, the ultrasonic beam is transmitted so that the slant plane H 7 swings around the y-axis (that is, the angle Q intersecting the z-axis in the positive direction of the X-axis changes). The direction has been changed.
  • the range of the angle Q in the positive direction of the X axis with respect to the z axis is-it / 2 ⁇ 0_ ⁇ ⁇ 2 [rad], and the angle with respect to the y axis on the slant plane H 7 0 4
  • the range of is ⁇ ⁇ 0 4 ⁇ ⁇ [rad].
  • the spherical coordinate system is The fish quantity information of the school FS can be calculated based on the calculation principle of the fish quantity information used. This algorithm will be described below.
  • the measurement area by the multi-beam sonar that is, the transmission / reception direction of the ultrasonic beam is set.
  • the transmission and reception direction and be represented by r (k), ⁇ 4 ( i), q (j).
  • the measurement range in the r direction is 0 ⁇ r ⁇ Ultrasonic beam detection distance [m], 0
  • the measurement range in the 4 direction is 0 ⁇ 0 ⁇ 7T [rad]
  • the measurement range in the q direction is 1 ⁇ / 2 ⁇ ( ⁇ ⁇ 2 [rad]
  • the input equivalent sound intensity P for this received beam is ⁇ Similar to the seventh embodiment, it is displayed on the display unit 6 as data displayed in shades (not shown in this embodiment).
  • the input converted sound intensity P M 2 for such a received beam is two-dimensionally integrated.
  • the transducer 2 is spherical, the two-dimensional echo integral value S j on the slant plane H 7 is expressed by the following equation 92.
  • P Mi , j. K 2 is the input equivalent sound intensity for each volume element (0 4 , Q> r), P. 2 indicates the transmitted signal strength.
  • the echo integral value S j on the virtual slant surface H 7 Is integrated in the direction in which the angle q of the w axis on the xz plane with respect to the z axis changes.
  • the volume integral value T is It is expressed by the following number 9 3.
  • N'Ts T Therefore, if the T s of a single fish is known, the approximate number N of fish in the school of fish F S can be calculated. The calculated approximate number N of fish in the fish school F S is displayed on the display 6.
  • the range of the angle Q of the w axis in the positive direction of the X axis with respect to the z axis is set to 7t / 2 ⁇ Q ⁇ 7t Z 2 rad] on the slant surface H7.
  • the ultrasonic beam is transmitted and received while changing the range of the angle 0 4 with respect to the y axis within the range of ⁇ ⁇ 0 4 ⁇ ⁇ [rad], but this is not restrictive.
  • the angle Q in the positive direction of the X axis with respect to the z axis may be varied within an arbitrary range within the range of 1 ⁇ Z 2 ⁇ q ⁇ ⁇ / 2 (rad).
  • the angle 0 4 with respect to the y axis on the runt plane H 7 may be changed in any range within the range of 0 ⁇ ⁇ 4 ⁇ ⁇ [rad]. Even in such a case, three-dimensional integration is possible.
  • a virtual slan ⁇ plane H 7 including the y axis and the w axis on the X z plane that intersects the y axis and the z axis at a predetermined angle q in the positive direction of the X axis is y Considering the case of swinging around the axis, but is not limited to this, for example, crossing at a predetermined angle in the positive direction of the y-axis with respect to the X-axis and z-axis yz You may consider the case where a virtual plane including a virtual axis on a plane swings around the X axis.
  • the transducer 2 is spherical
  • the present invention is not limited to this and may be a cylindrical shape.
  • the number 9 2 is represented by the number 9 5 instead, and the number 9 4 ⁇ is represented by the number 9 6 instead.
  • the transmitted signal strength is P Q 2 (0)
  • the equivalent beam width is ⁇ ( ⁇ ). This means that the transmitted signal strength P and the equivalent beam width ⁇ depend on the angle 0 of each beam with respect to the xy plane.
  • the ultrasonic beam scans on the slant surface H7.
  • the transmission direction of the m sound beam is changed so that the slant surface H 7 that is the scanning surface swings around the y axis, but the present invention is not limited to this. That is, instead of the slant H, the z axis on the plane (third surface) including an arbitrary first horizontal axis on the xy plane and a second horizontal axis z axis orthogonal to the first horizontal axis. It may be a plane including a lower axis intersecting with each other.
  • an underwater detection device is not limited to a scanning sonar, but a sector scanning sonar may be a solitary sonar. Transmit signal strength P when using SK For 2 and the equivalent beam width ⁇ , it is necessary to consider the dependence on the angle ⁇ , not the angle ⁇ .
  • a sector scanning sonar a fan-shaped transmission beam having a predetermined center angle and depression angle is formed around the transmitter and the scanning beam by scanning the inside of the fan-shaped transmission beam with a pencil-shaped reception beam. ⁇ Underwater information in each direction in the transmission beam is detected.
  • Pencil-shaped ultrasonic waves are transmitted from a transducer of a transducer in one direction at a predetermined depression angle. Based on the received signal received by the transducer, the underwater information in the direction is detected. Since only a narrow pencil-shaped area can be detected by a single transmission of ultrasonic waves, the entire circumference is detected by mechanically rotating the transducer. Also, the depression angle at which the super-wave is transmitted is mechanically controlled. Further, in the underwater detection device applied to the present invention, the transmission / reception direction of the ultrasonic waves is not limited to the direction along each of the surfaces H 1 to H 7 described in the above embodiments, but a predetermined two-dimensional direction. And volume integration in the one-dimensional direction that intersects this two-dimensional direction.
  • the underwater detection device applied to the present invention may be one in which the ultrasonic waves transmitted and received from the transducer 2 scan each surface H 1 to H 7 by one transmission and reception.
  • Each surface H 1 to H 7 may be scanned by ultrasonic waves transmitted and received a plurality of times.
  • the fish quantity N in the fish school F S is calculated.
  • the present invention is not limited to this, and “N X T s” may be calculated.
  • one reception beam is sequentially formed in multiple directions of each surface HI to H 7.
  • the present invention is not limited to this, and a large number of reception beams narrowed down one-dimensionally are formed. They may be formed simultaneously in multiple directions on each surface H 1 to H 7.
  • ultrasonic beam transmitted along the yz plane “ultrasonic beam transmitted along the slant plane H 1”, and “oblique vertical plane H” described in each calculation principle and each example described above.
  • the ultrasonic beam is transmitted along each surface H 1 to H 7, but actually it is approximately along each surface H 1 to H 7. Will be sent in the direction of the message.
  • the scanning sonar 1 in each of the above-described embodiments is the hull.
  • the present invention can be used for an underwater detection device such as a scanning sonar device or a water bottom exploration sonar device that transmits an ultrasonic signal and forms a received beam to detect a school of fish.

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  • Engineering & Computer Science (AREA)
  • Remote Sensing (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Environmental Sciences (AREA)
  • Acoustics & Sound (AREA)
  • Marine Sciences & Fisheries (AREA)
  • Animal Husbandry (AREA)
  • Biodiversity & Conservation Biology (AREA)
  • Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)

Abstract

Détecteur sous-marin comprenant une section (3) pour transmettre un signal ultrasonore dans l’eau dans une direction prédéterminée à partir de la coque, une section (4) pour recevoir des échos de réflexion d’un banc de poissons (FS) provenant du signal ultrasonore transmis par un faisceau de réception, et une section (5) pour traiter le signal du faisceau de réception. La section de traitement de signal (5) calcule les informations de quantité de poissons sur le banc de poissons FS en intégrant l’intensité acoustique de conversion d’entrée obtenue par le faisceau de réception dans une direction tridimensionnelle prédéterminée.
PCT/JP2005/006538 2004-10-01 2005-03-28 Detecteur sous-marin et procede susceptible de calculer des informations de quantite de poissons sur un banc de poissons WO2006038330A1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
GB0704964A GB2432672B (en) 2004-10-01 2005-03-28 Underwater detector and method capable of calculating fish quantity information on school of fish
US11/662,188 US7768875B2 (en) 2004-10-01 2005-03-28 Underwater sounding apparatus capable of calculating fish quantity information about fish school and method of such calculation

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2004-290828 2004-10-01
JP2004290828A JP5082031B2 (ja) 2004-10-01 2004-10-01 魚群の魚量情報を算出可能な水中探知装置及びその方法

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WO2006038330A1 true WO2006038330A1 (fr) 2006-04-13

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US (1) US7768875B2 (fr)
JP (1) JP5082031B2 (fr)
GB (1) GB2432672B (fr)
WO (1) WO2006038330A1 (fr)

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JP5073160B2 (ja) * 2004-10-01 2012-11-14 古野電気株式会社 魚群情報、魚群の体積及び単体魚の後方散乱強度を算出可能な水中探知装置、並びにそれらの方法
JP4776960B2 (ja) * 2005-03-29 2011-09-21 古野電気株式会社 超音波送受信装置
JP2009300220A (ja) * 2008-06-12 2009-12-24 Furuno Electric Co Ltd 水中探知装置
TWI471788B (zh) * 2012-12-14 2015-02-01 Egalax Empia Technology Inc 用於量測表面聲波觸控模塊的感應區尺寸的系統、處理裝置、與其量測方法
US9321510B2 (en) * 2013-03-15 2016-04-26 Hadal, Inc. Systems and methods for deploying autonomous underwater vehicles from a ship
US20190120959A1 (en) * 2014-12-10 2019-04-25 Navico Holding As Event triggering and automatic waypoint generation
JP7051625B2 (ja) 2018-07-12 2022-04-11 古野電気株式会社 水中探知装置及び水中探知方法
KR102078590B1 (ko) * 2018-07-18 2020-02-19 국방과학연구소 수중 근접 장애물 고속 탐지를 위한 다중 주파수 스캐닝 소나

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JP5082031B2 (ja) 2012-11-28
US7768875B2 (en) 2010-08-03
GB0704964D0 (en) 2007-04-25
US20080031092A1 (en) 2008-02-07
JP2006105701A (ja) 2006-04-20
GB2432672B (en) 2008-04-09
GB2432672A (en) 2007-05-30

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